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HU-RO EPRAS WORKSHOP 13 October 2011

Two countries, one goal, joint success!. www.huro-cbc.eu. Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011. Vessel é nyi Tibor Tarca Radu. HU-RO EPRAS WORKSHOP 13 October 2011.

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HU-RO EPRAS WORKSHOP 13 October 2011

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  1. Two countries, one goal, joint success! www.huro-cbc.eu Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011 Vesselényi Tibor Tarca Radu HU-RO EPRAS WORKSHOP 13 October 2011 The content of this material does not necessarily represent the official position of the European Union.

  2. Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011 System description • Programming language – RAPID • Programming mode – file transfer • Programming task – move the TCP on a defined trajectory

  3. Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011 System Operation • The student studies the RAPID language instructions and functions • Select one of the trajectory types or propose a new trajectory task • Develop the program • Transmits the file by internet • The operator performs the safety checks , loads the program into the IRC5 controller and starts the program execution • The student follows the program execution through a video camera • In case of successful execution the task is fulfilled • In case of errors the students can try to correct the program two times more • In case that the time limit of the task fulfillment is reached the student has to repeat the task in another session • The student’s score will be established on: syntax, logic and computed trajectory point values

  4. Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011 Safety issues 1. Presence of operator (supervisor ) needed. – FlexPendant. 2. Check the coordinate values to be included in the working box - Absolute coordinates, - WZBoxDef - Define a box-shaped global zone, - WZLimSup - Activate limit supervision for a global zone 3. Motion supervision/collision detection - In RAPID - MotionSup Deactivates/activates motion supervision - mot_sup_max_level = max 300% min 1%

  5. Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011 PC – Robot controller communication 1. Programming off-line RAPID programs can easily be created, maintained and stored in a computer. All information can be read and changed directly using a normal text editor. 2. File format The robot stores and reads RAPID programs in TXT format (ASCII) and can handle both DOS and UNIX text formats. If a word-processor is used to edit programs, these must be saved in TXT format (ASCII) before they are used in the robot. 3. Editing In order to minimize the risk of errors in the syntax (faulty programs), you should use a template. A template can take the form of a program that was created previously on the robot or using QuickTeach. These programs can be read directly to a word processor without having to be converted. 4. Syntax check methods • Load the file in the robot controller and open it. PGMCPL1.LOG error message file. • Open the file in QuickTeach or ProgramMaker. • Use a RAPID syntax check program for the PC.

  6. Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011 Programming example PERS tooldata tPen:= ... CONST robtarget p10:= ... PROC main() ! Call the procedure draw_square draw_square 100; draw_square 200; draw_square 300; draw_square 400; ENDPROC PROC draw_square(num side_size) VAR robtarget p20; VAR robtarget p30; VAR robtarget p40; ! p20 is set to p10 with an offset ! on the y value p20 := Offs(p10, 0, side_size, 0); p30 := Offs(p10, side_size, side_size, 0); p40 := Offs(p10, side_size, 0, 0); MoveL p10, v200, fine, tPen; MoveL p20, v200, fine, tPen; MoveL p30, v200, fine, tPen; MoveL p40, v200, fine, tPen; MoveL p10, v200, fine, tPen; ENDPROC

  7. Design of robot programming and program validation applications used in e-laboratories HU-RO EPRAS WORKSHOP - 13 OCTOBER - 2011 THANK YOU FOR YOUR ATTENTION

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